Robot 3D (three-dimension) path planning targets for finding an optimal and collision-free path in a 3D workspace while taking into account kinematic constraints (including geometric, physical, and temporal constraints). The purpose of path planning, unlike motion planning which must be taken into consideration of dynamics, is to find a kinematically optimal path with the least time as well as model the environment completely. We discuss the fundamentals of these most successful robot 3D path planning algorithms which have been developed in recent years and concentrate on universally applicable algorithms which can be implemented in aerial robots, ground robots, and underwater robots. This paper classifies all the methods into five categories based on their exploring mechanisms and proposes a category, called multifusion based algorithms. For all these algorithms, they are analyzed from a time efficiency and implementable area perspective. Furthermore a comprehensive applicable analysis for each kind of method is presented after considering their merits and weaknesses.
Rapid search and rescue responses after earthquakes or in postseismic evaluation tend to be extremely difficult.To solve this problem, we summarized the requirements of search and rescue rotary-wing unmanned aerial vehicle (SR-RUAV) systems according to related works, manual earthquake search and rescue, and our knowledge to guide our research works. Based on these requirements, a series of research and technical works have been conducted to present an efficient SR-RUAV system. To help rescue teams locate interested areas quickly, a collapsed-building detecting approach that integrates low-altitude statistical image processing methods was proposed, which can increase survival rates by detecting collapsed buildings in a timely manner. The entire SR-RUAV system was illustrated by simulated earthquake response experiments in the China National Training Base for Search and Rescue (CNTBSR) from 2008 to 2010. On April 20, 2013, Lushan (China) experienced a disastrous earthquake (magnitude 7.0). Because of the distribution of buildings in the rural areas, it was impossible to implement a rapid search and postseismic evaluation via ground searching. We provided our SR-RUAV to the Chinese International Search and Rescue Team (CISAR) and accurately detected collapsed buildings for ground rescue guidance at low altitudes. This system was significantly improved with respect to its searching/planning strategy and vision-based evaluation in different environments based on the lessons learned from actual missions after the earthquake. The SR-RUAV has proved to be applicable and time saving. The physical structure, searching and planning strategy, image-processing algorithm, and improvements in real missions are described in detail in this study. C 2015 Wiley Periodicals, Inc.
Faults or failures are inevitable to occur and their prompt detection and isolation are essential for the dependability of various systems and for avoiding damages to the system itself, persons and the environment. Therefore, the safety of helicopter platforms have attracted the attention of many researchers in the past two decades. In order to deal with these problems, this paper presents an overview of the recent development and current researches in the field of fault diagnosis, including analytical/model-based, signal processingbased and knowledge-based techniques, and also passive/active fault-tolerant control approaches.
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